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Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F17%3A00320808" target="_blank" >RIV/68407700:21220/17:00320808 - isvavai.cz</a>

  • Alternative codes found

    RIV/49777513:23520/17:43950894

  • Result on the web

    <a href="http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf" target="_blank" >http://multibody2017.cz/wp-content/uploads/2017/12/MBD2017_Conference_Proceedings_online.pdf</a>

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Cable Driven Spherical Mechanism Quadrosphere Enhanced by 3 DOF Piezo-actuated Platform

  • Original language description

    The paper deals with the optimization and control synthesis of multi-level mechanism based on cable/fibre driven spherical mechanism Quadrosphere. Multi-level means, that the mechanism consists of the main movable platform and at least one superimposed mechanism. The primary mechanism is considered as a parallel cable driven one, combining principles of parallel kinematics with the usage of cables/fibres/ropes/belts as links, which brings many advantages, namely the light-weight, large range of motion, possibility of anti-backlash operation, easy reconfiguration and even cheaper construction compared to mechanisms with traditional links. On the other hand the cables naturally limit these machines to the area of low frequencies, where the higher frequencies can be covered by the superimposed structure that provides smaller but fast components of requested motion. The presented idea is concretized for the experimental demonstrator of spherical mechanism Quadrosphere. It has been assembled and added by 6 DOF cubic truss created from piezoelectric stack actuators and carrying the secondary platform. The controllability of the platform motion has been tested for two variants of active truss positioning. The next step have been optimization, design and build of additional 3DOF platform fully tailored to the primary Quadrosphere mechanism. Mechanically amplified piezoactuators have been chosen for its actuation. Finally the control of multi-level mechanism using Hinfinity linear controller of fixed-order has been developed. The experiments with multi-level mechanism will be realized in the near future.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20302 - Applied mechanics

Result continuities

  • Project

    <a href="/en/project/GA15-20134S" target="_blank" >GA15-20134S: Multi-Level Light Mechanisms with Active Structures</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2017

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Proceedings of the 8th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS 2017

  • ISBN

    978-80-01-06174-9

  • ISSN

  • e-ISSN

    2523-9589

  • Number of pages

    8

  • Pages from-to

    551-558

  • Publisher name

    výroba

  • Place of publication

    Praha

  • Event location

    Praha

  • Event date

    Jun 19, 2017

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article